http://repository.iiitd.edu.in/xmlui/handle/123456789/1812 Year-2025 Tue, 22 Sep 2026 02:16:55 GMT 2026-09-22T02:16:55Z http://repository.iiitd.edu.in/xmlui/handle/123456789/2160 Belief consolidation in a partially observable multi-robot environment with limited data sharing capabilities Yadav, Aditya; Kundu, Tanmoy (Advisor) Effective multi-robot search and rescue hinges on rapid exploration, robust situational awareness, and judicious use of scarce bandwidth. This paper introduces a hybrid coordination architecture that combines centralised information fusion with distributed on-board autonomy. At the heart of the approach is a lightweight server that maintains complementary short-term and long- term probabilistic maps of the workspace, ranks unexplored regions by information entropy, and assigns each robot a region whose expected utility maximises collective coverage. Robots operate under these high-level directives while retaining full local autonomy for motion planning and obstacle avoidance; they update the server only when new observations significantly alter the shared belief, thereby enforcing an event-triggered communication policy. The proposed framework advances the state of the art in three ways. First, the dual-layer map- ping strategy accommodates both transient sensor cues and persistent environmental structure without incurring prohibitive memory or update costs. Second, the entropy-driven region allocator dynamically balances exploration load and mitigates redundant traversal as environmental uncertainty evolves. Third, the selective communication rule maintains global consistency while sharply reducing channel utilisation, enabling scalability to larger robot teams and harsher communication conditions. A suite of synthetic disaster scenarios featuring dynamic obstacles and mobile victims is used to evaluate the architecture against fully centralised and fully decentralised baselines. Results demonstrate superior exploration efficiency, faster victim localisation, and lower communication cost, confirming that selective, uncertainty-aware information exchange strikes an effective balance between shared situational awareness and individual responsiveness. The findings suggest that hybrid coordination, underpinned by principled workload allocation and event-triggered messaging, offers a promising direction for time-critical multi-robot operations in complex, un- certain environments. Thu, 24 Apr 2025 00:00:00 GMT http://repository.iiitd.edu.in/xmlui/handle/123456789/2160 2025-04-24T00:00:00Z http://repository.iiitd.edu.in/xmlui/handle/123456789/2159 Exploring the structure and sequence diversity in human kinome Hingorani, Harsh; Arora, Idhant; Rawat, Harsh; Ray, Arjun (Advisor) The report outlines the work which was done in the summer term, including two primary tasks, namely, creating a web site with data on human kinases and integrating data on various kinases databases. Web development work was done where a new web version of the web kinase.com was developed. The new frontend was developed in the latest and user-friendly HTML, CSS, JavaScript, and React.js themes. The site has enhanced search tools, data view visualizations, and 3D protein structures using the NGL Viewer. It uses Node.js and Express.js to create the backend together with MongoDB that enables the system to process data requests and deliver protein structures executing the API endpoints. Besides web development, integration of a comprehensive kinase database was done. Several kinase-specific databases (KinBase, EKPD, KLIFS, KLSD, Kincore, and ChEMBL) were examined to learn what information they contain: total number of kinases, the collection of species, classification schemes, and kind of data that are being provided. A merging pipe-line was established with UniProt IDs to aggregate the data into a single completed one. It led to the compilation of 719 proteins of 492 unique human kinases, amalgamated out of 11 data-sets, including UniProtDB, KINHUB, KLIFS, and KinBase. In order to introduce the data and interpret it, bar charts, UpSet plots, and heatmaps were made, which demonstrates the size of each dataset and their overlaps. KEGG pathway analysis, enrichment, and kinase expression profiling in human tissues based on GTex was also conducted further to determine significant biological pathways and particular tissues in which active kinases are expressed. Tue, 01 Jul 2025 00:00:00 GMT http://repository.iiitd.edu.in/xmlui/handle/123456789/2159 2025-07-01T00:00:00Z